交差型ヘリカル歯車機構に基づく能動双リング式全方向駆動車輪

― 斜め方向移動の高円滑化 ―

抄録

In this paper, the control method which can move in the diagonal direction for active omni-directional wheel mechanism with dual-rings is proposed. Active dual-ring wheel with high performance on step traverse had been developed. However, it was difficult for this mechanism to move in the diagonal direction because a rotation direction of the ring wheel is reversed at constant period of the wheel. Thus, the authors proposed a control method for diagonal direction movement. Next, the wheel path was simulated to confirm the validity of the proposed method. Finally, the effectiveness of proposed control method was verified by experiments.